CN111775917A - Vehicle braking torque compensation method and device - Google Patents
Vehicle braking torque compensation method and device Download PDFInfo
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- CN111775917A CN111775917A CN202010651833.XA CN202010651833A CN111775917A CN 111775917 A CN111775917 A CN 111775917A CN 202010651833 A CN202010651833 A CN 202010651833A CN 111775917 A CN111775917 A CN 111775917A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a vehicle braking torque compensation method, medium, equipment and device, wherein the method comprises the following steps: obtaining the static running current of the vehicle and a first vehicle state parameter, and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter; if the vehicle enters a braking state, judging whether a battery of the vehicle allows power return at present; if the battery of the vehicle does not allow the return current at present, acquiring the bus current, and judging whether the bus current is smaller than the static running current of the vehicle; if the bus current is smaller than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque; the vehicle brake torque can be reasonably controlled under the condition that the vehicle battery does not allow the electricity to return, and the battery overcharge fault caused by unreasonable torque control is avoided.
Description
Technical Field
The present invention relates to the field of electric vehicle control technologies, and in particular, to a vehicle braking torque compensation method, a computer readable storage medium, a computer device, and a vehicle braking torque compensation apparatus.
Background
When the electric quantity of the pure electric bus is close to 100%, the battery does not allow the outside to return electricity to the pure electric bus, so that battery failure is avoided.
In the related art, in order to prevent the battery from being charged, a mode of sending 0 torque to a motor controller through a vehicle control unit is adopted; however, due to consistency issues in motor production; the mode often easily causes torque deviation in the process of controlling the motor by the motor controller, and further causes inaccurate 0-torque control and negative torque and negative current; eventually, the battery is caused to fail overcharging.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, an object of the present invention is to provide a vehicle braking torque compensation method, which can reasonably control the vehicle braking torque under the condition that the vehicle battery does not allow the power return, and avoid the battery overcharge fault caused by the unreasonable torque control.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose a computer device.
A fourth object of the present invention is to provide a vehicle braking torque compensation device.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a vehicle braking torque compensation method, including the following steps: obtaining the static running current of the vehicle and a first vehicle state parameter, and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter; if the vehicle enters a braking state, judging whether a battery of the vehicle allows power return at present; if the battery of the vehicle does not allow the return current at present, acquiring the bus current, and judging whether the bus current is smaller than the static running current of the vehicle; and if the bus current is less than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque.
According to the vehicle braking torque compensation method, firstly, the static running current and the first vehicle state parameter of a vehicle are obtained, and whether the vehicle enters a braking state or not is judged according to the first vehicle state parameter; then, if the vehicle enters a braking state, judging whether the battery of the vehicle allows the electricity return at present; then, if the battery of the vehicle does not allow the return current at present, acquiring the bus current, and judging whether the bus current is smaller than the static running current of the vehicle; then, if the bus current is smaller than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque; therefore, the vehicle braking torque is reasonably controlled under the condition that the vehicle battery does not allow the electricity to return, and the battery overcharge fault caused by unreasonable torque control is avoided.
In addition, the vehicle braking torque compensation method proposed according to the above embodiment of the present invention may also have the following additional technical features:
optionally, the vehicle braking torque is compensated according to the following formula:
Ta＝Pa/η*9550/n
Tb＝U(Ia-I)/η*9550/n
Tc＝Ta+Tb
wherein Ta represents basic torque, Pa represents basic power, eta represents motor control system efficiency, and n represents motor rotating speed; tb represents the compensation torque, U represents the battery voltage, Ia represents the vehicle quiescent running current, I represents the bus current, and Tc represents the compensated vehicle braking torque.
Optionally, the method further comprises: and carrying out smooth calculation on the compensated vehicle braking torque, and determining the final vehicle braking torque according to the smooth calculation result.
Optionally, the compensated vehicle braking torque is calculated smoothly according to the following formula:
Td＝a*Tc+(1-a)*T(n-1)
where Td represents the final vehicle braking torque, a represents the preset smoothness, Tc represents the compensated vehicle braking torque, and T (n-1) represents the final vehicle braking torque at the previous time.
To achieve the above object, a second embodiment of the present invention provides a computer-readable storage medium having a vehicle braking torque compensation program stored thereon, which when executed by a processor implements the vehicle braking torque compensation method as described above.
According to the computer-readable storage medium of the embodiment of the invention, the vehicle braking torque compensation program is stored, so that the processor realizes the vehicle braking torque compensation method when executing the vehicle braking torque compensation program, thereby reasonably controlling the vehicle braking torque under the condition that the vehicle battery does not allow the power return, and avoiding the battery overcharge fault caused by unreasonable torque control.
To achieve the above object, a third embodiment of the present invention provides a computer device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle braking torque compensation method as described above.
According to the computer equipment provided by the embodiment of the invention, the vehicle braking torque compensation program is stored through the memory, so that the processor realizes the vehicle braking torque compensation method when executing the vehicle braking torque compensation program, thereby realizing reasonable control of the vehicle braking torque under the condition that the vehicle battery does not allow power return, and avoiding the battery overcharge fault caused by unreasonable torque control.
In order to achieve the above object, a fourth aspect of the present invention provides a vehicle braking torque compensation apparatus, including: the first judgment module is used for acquiring the static running current of the vehicle and a first vehicle state parameter and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter; the second judgment module is used for judging whether the battery of the vehicle allows power return at present when the vehicle enters a braking state; the third judgment module is used for acquiring the bus current when the battery of the vehicle does not allow the current return, and judging whether the bus current is smaller than the static operation current of the vehicle; the compensation module is used for acquiring a second vehicle state parameter when the bus current is smaller than the vehicle static running current, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque.
According to the vehicle braking torque compensation device provided by the embodiment of the invention, a first judgment module is arranged for acquiring the static running current of the vehicle and a first vehicle state parameter, and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter; the second judging module is used for judging whether the battery of the vehicle allows the electricity to return or not when the vehicle enters a braking state; the third judging module is used for acquiring the bus current when the battery of the vehicle does not allow the current return, and judging whether the bus current is smaller than the static running current of the vehicle; the compensation module is used for acquiring a second vehicle state parameter when the bus current is smaller than the vehicle static running current, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque; therefore, the vehicle braking torque is reasonably controlled under the condition that the vehicle battery does not allow the electricity to return, and the battery overcharge fault caused by unreasonable torque control is avoided.
In addition, the vehicle braking torque compensation device proposed according to the above embodiment of the present invention may also have the following additional technical features:
optionally, the vehicle braking torque is compensated according to the following formula:
Ta＝Pa/η*9550/n
Tb＝U(Ia-I)/η*9550/n
Tc＝Ta+Tb
wherein Ta represents basic torque, Pa represents basic power, eta represents motor control system efficiency, and n represents motor rotating speed; tb represents the compensation torque, U represents the battery voltage, Ia represents the vehicle quiescent running current, I represents the bus current, and Tc represents the compensated vehicle braking torque.
Optionally, the method further comprises: and carrying out smooth calculation on the compensated vehicle braking torque, and determining the final vehicle braking torque according to the smooth calculation result.
Optionally, the compensated vehicle braking torque is calculated smoothly according to the following formula:
Td＝a*Tc+(1-a)*T(n-1)
where Td represents the final vehicle braking torque, a represents the preset smoothness, Tc represents the compensated vehicle braking torque, and T (n-1) represents the final vehicle braking torque at the previous time.
Drawings
FIG. 1 is a schematic flow diagram of a vehicle braking torque compensation method according to an embodiment of the present invention;
fig. 2 is a block schematic diagram of a vehicle brake torque compensation device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the related art, when the battery is not allowed to return electricity, the battery is easy to cause overcharge failure due to improper torque control; according to the vehicle braking torque compensation method, firstly, the static running current and the first vehicle state parameter of a vehicle are obtained, and whether the vehicle enters a braking state or not is judged according to the first vehicle state parameter; then, if the vehicle enters a braking state, judging whether the battery of the vehicle allows the electricity return at present; then, if the battery of the vehicle does not allow the return current at present, acquiring the bus current, and judging whether the bus current is smaller than the static running current of the vehicle; then, if the bus current is smaller than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque; therefore, the vehicle braking torque is reasonably controlled under the condition that the vehicle battery does not allow the electricity to return, and the battery overcharge fault caused by unreasonable torque control is avoided.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Fig. 1 is a schematic flow chart of a vehicle braking torque compensation method according to an embodiment of the present invention, as shown in fig. 1, the vehicle braking torque compensation method includes the steps of:
s101, obtaining the static running current of the vehicle and a first vehicle state parameter, and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter.
That is, first, when the vehicle can normally run, the minimum current (i.e., the vehicle static running current) that needs to be consumed when the vehicle is in a static state (when the vehicle is not running, the electric auxiliary, other high-voltage equipment, and the motor controller in the static state are normally running) is obtained; and acquiring a first vehicle state parameter of the vehicle in real time, and judging whether the vehicle enters a braking state according to the first vehicle state parameter.
The data of the first vehicle state parameter may include a plurality of types, and the data type of the first vehicle state parameter is not limited herein; for example, the vehicle state parameters may include: wheel speed, vehicle speed, AD information, IO information, CAN bus communication information and the like.
The manner of judging whether the vehicle enters the braking state according to the first vehicle state parameter can be various.
As an example, the first vehicle state parameter includes vehicle speed, AD information, IO information, and CAN bus communication information, and further, whether the vehicle enters a braking state may be determined according to the first vehicle state parameter; that is, it is determined whether the driver's intention is to brake the vehicle at present.
S102, if the vehicle enters a braking state, judging whether the battery of the vehicle is allowed to return electricity at present.
S103, if the battery of the vehicle does not allow the current return, obtaining the bus current, and judging whether the bus current is smaller than the static running current of the vehicle.
That is, if the vehicle is currently in a braking state, it is further determined whether the battery of the vehicle is currently not allowed to be returned because of full charge; if so, judging whether the bus current is smaller than the vehicle static running current according to the continuously collected bus current.
And S104, if the bus current is less than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque.
That is, if the bus current is less than the vehicle static running current, a second vehicle state parameter of the vehicle is obtained, a corresponding compensation torque is calculated according to the second vehicle state parameter, and the vehicle braking torque is compensated according to the compensation torque so as to prevent the occurrence of the battery overcharge fault.
The manner in which the vehicle braking torque is compensated for the compensation torque may be various.
As an example, vehicle braking torque is compensated according to the following equation:
Ta＝Pa/η*9550/n
Tb＝U(Ia-I)/η*9550/n
Tc＝Ta+Tb
wherein Ta represents basic torque, Pa represents basic power, eta represents motor control system efficiency, and n represents motor rotating speed; tb represents the compensation torque, U represents the battery voltage, Ia represents the vehicle quiescent running current, I represents the bus current, and Tc represents the compensated vehicle braking torque.
It can be seen that when the battery does not allow the power return, that is, the battery allows the recovery current to be 0A, the basic power Pa is 0kW, and after the click current rotation speed n is obtained, the basic torque Ta in the current mode may be calculated to be Pa/η 9550/n, and Ta is 0 Nm; if the bus current is larger than the static running current of the vehicle, the braking torque of the vehicle does not need to be compensated, and Tc (Ta) is 0 Nm; if the bus current is smaller than the static running current of the vehicle, calculating to obtain compensation torque Tb (U (Ia-I)/eta 9550/n according to the battery voltage U and the motor speed n; the vehicle braking torque is then compensated according to the formula Tc Ta + Tb.
In some embodiments, in order to ensure the comfort and safety of the whole vehicle; the vehicle braking torque compensation method provided by the embodiment of the invention further comprises the following steps: and carrying out smooth calculation on the compensated vehicle braking torque, and determining the final vehicle braking torque according to the smooth calculation result.
In some embodiments, the compensated vehicle braking torque is calculated smoothly according to the following equation:
Td＝a*Tc+(1-a)*T(n-1)
where Td represents the final vehicle braking torque, a represents the preset smoothness, Tc represents the compensated vehicle braking torque, and T (n-1) represents the final vehicle braking torque at the previous time.
In summary, according to the vehicle braking torque compensation method provided by the embodiment of the invention, firstly, the vehicle static running current and the first vehicle state parameter are obtained, and whether the vehicle enters the braking state is judged according to the first vehicle state parameter; then, if the vehicle enters a braking state, judging whether the battery of the vehicle allows the electricity return at present; then, if the battery of the vehicle does not allow the return current at present, acquiring the bus current, and judging whether the bus current is smaller than the static running current of the vehicle; then, if the bus current is smaller than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque; therefore, the vehicle braking torque is reasonably controlled under the condition that the vehicle battery does not allow the electricity to return, and the battery overcharge fault caused by unreasonable torque control is avoided.
In order to implement the above-mentioned embodiments, the present invention also proposes a computer-readable storage medium having stored thereon a vehicle braking torque compensation program that, when executed by a processor, implements the vehicle braking torque compensation method as described above.
According to the computer-readable storage medium of the embodiment of the invention, the vehicle braking torque compensation program is stored, so that the processor realizes the vehicle braking torque compensation method when executing the vehicle braking torque compensation program, thereby reasonably controlling the vehicle braking torque under the condition that the vehicle battery does not allow the power return, and avoiding the battery overcharge fault caused by unreasonable torque control.
In order to implement the above embodiments, the present invention further provides a computer device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle braking torque compensation method as described above.
According to the computer equipment provided by the embodiment of the invention, the vehicle braking torque compensation program is stored through the memory, so that the processor realizes the vehicle braking torque compensation method when executing the vehicle braking torque compensation program, thereby realizing reasonable control of the vehicle braking torque under the condition that the vehicle battery does not allow power return, and avoiding the battery overcharge fault caused by unreasonable torque control.
In order to implement the above-mentioned embodiment, an embodiment of the present invention further provides a vehicle braking torque compensation apparatus, as shown in fig. 2, including: the device comprises a first judgment module 10, a second judgment module 20, a third judgment module 30 and a compensation module 40.
The first judging module 10 is configured to obtain a vehicle static operation current and a first vehicle state parameter, and judge whether the vehicle enters a braking state according to the first vehicle state parameter;
the second judging module 20 is used for judging whether the battery of the vehicle allows the electricity to return when the vehicle enters a braking state;
the third judging module 30 is configured to obtain a bus current when the battery of the vehicle does not currently allow for power return, and judge whether the bus current is smaller than a vehicle static operation current;
the compensation module 40 is configured to obtain a second vehicle state parameter when the bus current is less than the vehicle static operation current, calculate a compensation torque according to the second vehicle state parameter, and compensate the vehicle braking torque according to the compensation torque.
In some embodiments, vehicle braking torque is compensated according to the following equation:
Ta＝Pa/η*9550/n
Tb＝U(Ia-I)/η*9550/n
Tc＝Ta+Tb
wherein Ta represents basic torque, Pa represents basic power, eta represents motor control system efficiency, and n represents motor rotating speed; tb represents the compensation torque, U represents the battery voltage, Ia represents the vehicle quiescent running current, I represents the bus current, and Tc represents the compensated vehicle braking torque.
In some embodiments, further comprising: and carrying out smooth calculation on the compensated vehicle braking torque, and determining the final vehicle braking torque according to the smooth calculation result.
In some embodiments, the compensated vehicle braking torque is calculated smoothly according to the following equation:
Td＝a*Tc+(1-a)*T(n-1)
where Td represents the final vehicle braking torque, a represents the preset smoothness, Tc represents the compensated vehicle braking torque, and T (n-1) represents the final vehicle braking torque at the previous time.
It should be noted that the above description of the vehicle braking torque compensation method in fig. 1 is also applicable to the vehicle braking torque compensation device, and is not repeated herein.
In summary, according to the vehicle braking torque compensation device provided by the embodiment of the invention, the first judgment module is arranged to obtain the vehicle static running current and the first vehicle state parameter, and judge whether the vehicle enters the braking state according to the first vehicle state parameter; the second judging module is used for judging whether the battery of the vehicle allows the electricity to return or not when the vehicle enters a braking state; the third judging module is used for acquiring the bus current when the battery of the vehicle does not allow the current return, and judging whether the bus current is smaller than the static running current of the vehicle; the compensation module is used for acquiring a second vehicle state parameter when the bus current is smaller than the vehicle static running current, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque; therefore, the vehicle braking torque is reasonably controlled under the condition that the vehicle battery does not allow the electricity to return, and the battery overcharge fault caused by unreasonable torque control is avoided.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A vehicle braking torque compensation method, comprising the steps of:
obtaining the static running current of the vehicle and a first vehicle state parameter, and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter;
if the vehicle enters a braking state, judging whether a battery of the vehicle allows power return at present;
if the battery of the vehicle does not allow the return current at present, acquiring the bus current, and judging whether the bus current is smaller than the static running current of the vehicle;
and if the bus current is less than the static running current of the vehicle, acquiring a second vehicle state parameter, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque.
2. A vehicle braking torque compensation method according to claim 1, characterized in that the vehicle braking torque is compensated according to the following formula:
Ta＝Pa/η*9550/n
Tb＝U(Ia-I)/η*9550/n
Tc＝Ta+Tb
wherein Ta represents basic torque, Pa represents basic power, eta represents motor control system efficiency, and n represents motor rotating speed; tb represents the compensation torque, U represents the battery voltage, Ia represents the vehicle quiescent running current, I represents the bus current, and Tc represents the compensated vehicle braking torque.
3. The vehicle braking torque compensation method according to claim 1 or 2, characterized by further comprising: and carrying out smooth calculation on the compensated vehicle braking torque, and determining the final vehicle braking torque according to the smooth calculation result.
4. A vehicle braking torque compensation method according to claim 3, wherein the compensated vehicle braking torque is calculated smoothly according to the following formula:
Td＝a*Tc+(1-a)*T(n-1)
where Td represents the final vehicle braking torque, a represents the preset smoothness, Tc represents the compensated vehicle braking torque, and T (n-1) represents the final vehicle braking torque at the previous time.
5. A computer-readable storage medium, having stored thereon a vehicle braking torque compensation program which, when executed by a processor, implements a vehicle braking torque compensation method as claimed in any one of claims 1 to 4.
6. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements a vehicle brake torque compensation method according to any one of claims 1-4.
7. A vehicle braking torque compensation device, comprising:
the first judgment module is used for acquiring the static running current of the vehicle and a first vehicle state parameter and judging whether the vehicle enters a braking state or not according to the first vehicle state parameter;
the second judgment module is used for judging whether the battery of the vehicle allows power return at present when the vehicle enters a braking state;
the third judgment module is used for acquiring the bus current when the battery of the vehicle does not allow the current return, and judging whether the bus current is smaller than the static operation current of the vehicle;
the compensation module is used for acquiring a second vehicle state parameter when the bus current is smaller than the vehicle static running current, calculating a compensation torque according to the second vehicle state parameter, and compensating the vehicle braking torque according to the compensation torque.
8. The vehicle braking torque compensation device according to claim 7, wherein the vehicle braking torque is compensated according to the following formula:
Ta＝Pa/η*9550/n
Tb＝U(Ia-I)/η*9550/n
Tc＝Ta+Tb
wherein Ta represents basic torque, Pa represents basic power, eta represents motor control system efficiency, and n represents motor rotating speed; tb represents the compensation torque, U represents the battery voltage, Ia represents the vehicle quiescent running current, I represents the bus current, and Tc represents the compensated vehicle braking torque.
9. The vehicle braking torque compensation device according to claim 7 or 8, characterized by further comprising: and carrying out smooth calculation on the compensated vehicle braking torque, and determining the final vehicle braking torque according to the smooth calculation result.
10. The vehicle braking torque compensation device according to claim 9, wherein the compensated vehicle braking torque is smoothly calculated according to the following formula:
Td＝a*Tc+(1-a)*T(n-1)
where Td represents the final vehicle braking torque, a represents the preset smoothness, Tc represents the compensated vehicle braking torque, and T (n-1) represents the final vehicle braking torque at the previous time.
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